基于扰动和模型误差补偿的黄金分割自适应控制.pdfVIP

优先出版 计 算 机 应 用 研 究 第32 卷 基于扰动和模型误差补偿的黄金分割自适应控制 钟 华，王 永，邵长星 ( 中国科学技术大学自动化系，合肥230027) 摘 要：针对刚柔耦合系统模型阶次较高和模型建立过程较为复杂的问题，采用特征建模理论来简化建模过程。在特征 模型基础上，引入一种由黄金分割控制器、逻辑积分控制器和逻辑微分控制器组成的组合控制器。并且针对组合控制器 参数调节较难的问题，应用广义最小方差知识对黄金分割自适应控制器参数进行优化，从而有效简化调参过程。考虑系 统扰动和特征建模误差，设计一个扩张状态观测器对其进行估计并进行相应补偿。最终，实验表明文中所提方法能够实 现角度的快速跟踪，同时能够快速抑制柔性梁的振动。 关键词：特征建模；黄金分割控制器；逻辑积分控制器；逻辑微分控制器；广义最小方差；扩张状态观测器 中图分类号：TP273 Golden-section adaptive control based on disturbances and model error compensations ZHONG Hua, WANG Yong, SHAO Chang-xing (Dept. of Automation, University of Science Technology of China, Hefei 230027) Abstract: Considering the problem of the high order and complexity modeling process for rigid-flexible couple system, characteristic modelling theory is be used to simplify the modelling process. On the basis of characteristic model, this paper introduces a combined controller consisting of golden-section adaptive (GSA) controller, logic integral controller (LIC) and logic derivative controller (LDC). In addition, considering the complexity of adjusting controller’s parameters, the method of generalized minimum variance (GMV) is be used to optimize the controller’s parameters. This can simplify the process of adjusting parameters effectively. Moreover, considering the system disturbances and model errors, an extended state observer (ESO) is designed to evaluate the system disturbances and model errors and to compensate for the system. Finally, experiments results indicate that the proposed method can track the angular more fast and can